import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        # 启动IMU节点并重映射主题
        Node(
            package='imu_get',
            executable='publisher_imu_node',
            name='publisher_imu_node',
            output='screen',
            remappings=[
                ('/imu_data', '/imu')  # 重映射主题
            ]
        ),
    ])